I delight to do Thy will, O my God, yea, Thy law is within my heart.. – Psalm 40:8

Our Lord is most thorough in all that He does. His work is never slovenly, nor in a half-hearted way. He does not even sit on the well and talk to a poor woman, but what His heart is there. He does not go into a fisherman’s hut, but what His heart is there, and He heals the sick one. He does not sit down to supper with His followers, but what His heart is there, and He reveals His love. I wish we were always at home when the Lord calls for us! Sometimes we are all abroad, and our heart is away from the service of our Father; but He loved the LORD with all His heart, and mind, and strength. For us He gave His whole being, rejoicing to redeem us. He was always intense. Whether He preached or practiced, Jesus was all there and always there. Hence His delight; for what a man does with his heart he delights to do. These two sentences are melodious of joy to my ear. “I delight to do Thy will, O my God: yea, Thy law is within my heart.”

The Bible says, “There is joy in the presence of the angels of God over one sinner that repenteth.” What means the presence of the angels? Why, that the angels see the joy of Christ when sinners repent. Hear them say to one another, “Behold the Father’s face! How He rejoices! Gaze on the countenance of the Son! What a heaven of delight shines in those eyes of His! Jesus wept for these sinners, but now He rejoices over them. How resplendent are the nail-prints to-day, for the redeemed of the Lord’s death are believing and repenting! That blessed countenance which is always as a sun, shineth in the fullness of its strength, now that He sees of the travail of His soul.” He who suffered feels a joy unsearchable…Oh, the joy of triumphant love! The joy of the crucified, whose prepared body is the body of His glory as once it was the body of His humiliation! In that manhood He still rejoices, and delights to do the will of the Father. ~ C.H. Spurgeon

https://www.blueletterbible.org/Comm/spurgeon_charles/sermons/2202.cfm